UAV Attitude Synchronization Based on Event-triggered without Angular Velocity Measurement

The cyclic sampling in the process of UAV information transmission usually causes the network communication pressure to increase sharply, information delay and packet loss because the limited communication resources. In order to reduce communication pressure, an event-trigged communication scheme is proposed for UAV attitude synchronization where there is no angular velocity measurement. A virtual system is designed for each UAV to estimate the angular velocity so that the attitude synchronization controller can he constructed by using the angular velocity feedback. The information transmitted among the virtual systems is sent on the basis of event-triggered scheme. Thus the synchronization controllers and communication scheme are co-designed such that the communication load is less than the time-triggered communication. In the fixed undirected topology, the numerical simulation results show that under the event-triggered communication mechanism, the UAV can realize the leadless and leader-follower attitude synchronization without angular velocity measurement.